CN109276317A - A kind of limiting device of operating robot mechanical arm - Google Patents
A kind of limiting device of operating robot mechanical arm Download PDFInfo
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- CN109276317A CN109276317A CN201811169604.3A CN201811169604A CN109276317A CN 109276317 A CN109276317 A CN 109276317A CN 201811169604 A CN201811169604 A CN 201811169604A CN 109276317 A CN109276317 A CN 109276317A
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- Prior art keywords
- mechanical arm
- microswitch
- driving motor
- plate
- slide unit
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of limiting devices of operating robot mechanical arm, including microswitch, microswitch is arranged on the slide unit being connected with mechanical arm, the outside of slide unit is equipped with shell, microswitch is in contact with shell, and microswitch and mechanical arm are communicated to connect with control system, when shell, which is collided, to be deformed, signal is passed to control system by microswitch, and control system is according to the movement of this semaphore lock mechanical arm.Limiting device of the invention can be when the shell of mechanical arm or slide unit be collided and deforms, signal is passed into control system, control system makes locking to the movement of mechanical arm in time, avoids after colliding, mechanical arm moves forward and causes more serious destruction.
Description
Technical field
The invention belongs to the field of medical instrument technology, in particular to a kind of limiting device of operating robot mechanical arm.
Background technique
It improves with the development of science and technology, " minimally invasive " this concept has been deep into the various fields of surgical operation.It is minimally invasive
Operation refers to the operation using the modern medical equipments such as laparoscope, thoracoscope and relevant device progress, the small, pain with wound
Gently, restore fast superiority.Stamp card is the tool used in laparoscope or thoracoscopic operation, is inserted into skin using one end of time stamp card
Skin, the other end need to be fixed on skin surface.Most of stamp card that the country uses at present is without fixed device, and pole holds during surgery
Easily sliding, loose shift, or even when appearance operation progress half, stamp card is deviate from or slides into too deep phenomenon, seriously affects
Surgical procedure is delayed operating time.Domestic hospitals often maintain operation to carry out using the method for correcting stamp card position repeatedly, but
Merging can make stomach wall form multiple Y shape ducts repeatedly, and peritonaeum breach increases, and easily form pneumoderm in art.
When needing using stamp card, first wrapping layer is wrapped on the outer wall of stamp card ontology, and tight by fixed agraffe device
Button, then by merging stamp card ontology after incision of skin, wrapping layer is sewn on the skin of body operation otch with operation suture thread, it will
Stamp card ontology is fixed on stomach wall, prevents stamp card ontology activity, is conducive to the operation of doctor.
But it still remains following problems: when the shell or machinery of the slide unit for controlling surgical instrument movement in operating robot
Arm is collided when deforming, cannot such as stop in time or the movement of locking mechanical arm, then mechanical arm continues to move, and is easy to people
Body causes hardly imaginable consequence.
Summary of the invention
The present invention provides a kind of drive dynamic control device of surgery mechanical people slide unit, can mechanical arm or slide unit shell by
It, being capable of timely locking mechanical arm when to collision deformation.
To achieve the above object, the present invention takes following technical scheme:
A kind of limiting device of operating robot mechanical arm, including microswitch, microswitch setting with mechanical arm phase
On slide unit even, the outside of slide unit is equipped with shell, and microswitch is in contact with shell, and microswitch and mechanical arm are with control
System communication connection, when shell, which is collided, to be deformed, signal is passed to control system by microswitch, and control system is according to this letter
Number locking mechanical arm movement.
In one embodiment, the side of microswitch is equipped with triggering end, sets on the opposite other side for triggering end
There is electrical connector, triggering end is contacted with the shell of slide unit, and electrical connector and control system communicate to connect.
In one embodiment, slide unit is equipped with mounting plate, and the one side of mounting plate is connected with mechanical arm, sets on another side
There is screw pair, driving motor and transmission device are additionally provided on mounting plate, driving motor imparts power to silk by transmission device
Bar pair.
In one embodiment, the upper end of one side of the mounting plate with mechanical arm, transmission device is arranged in driving motor
Including driving wheel, driven wheel and synchronous belt, driving wheel is located at the top of driving motor output shaft, between driving motor and driving wheel
Equipped with synchronous belt pre-tightening apparatus.
In one embodiment, synchronous belt pre-tightening apparatus includes fixed side panel and the plate that is slidably installed, the fixed peace of fixed side panel
Two sides loaded on mounting plate, the plate that is slidably installed are located at the top of fixed side panel, and the output shaft of driving motor passes through the plate that is slidably installed
It is connect with driven wheel, the plate that is slidably installed is equipped with pretension bolt between one end and driving motor fixed plate far from mounting plate, in advance
Tight bolt passes through the side for the plate that is slidably installed and the side of fixed side panel and contradicts, and the top for the plate that is slidably installed is equipped with fastening bolt,
After the completion of synchronous belt is pre-tightened and adjusted, it is fastenedly connected on fixed side panel using the fastening bolt plate that will be slidably installed.
In one embodiment, microswitch has multiple.
In one embodiment, there are two microswitch tools, one of microswitch is solid by microswitch fixed frame
It is scheduled on the middle part of mounting plate；Another microswitch is fixed therein on a fixed side panel by microswitch fixed frame.
In one embodiment, screw pair is fixed by the bracket on the another side of mounting plate, and screw pair includes screw rod
And sliding block, sliding block are located on screw rod, bracket is equipped with sliding rail, and when driving motor drives screw rod rotation, sliding block is along sliding rail in screw rod
Upper axial movement.
In one embodiment, mechanical arm has at least one mechanical connection arm, and mechanical connection arm passes through multiple joints and cunning
Platform connection, wherein it is each it is intra-articular be designed with micro-driving motor, micro-driving motor and control system communicate to connect.
In one embodiment, it is each it is intra-articular be designed with joint sensors, joint sensors and control system communication link
It connects.
Compared with the prior art, the advantages of the present invention are as follows: microswitch is equipped on slide unit, the triggering on microswitch
End is in contact with the shell of slide unit, therefore, when the shell of slide unit is collided, and causes casing deformation, on microswitch
Triggering end receive signal and signal passed into control system, inform the presence of control system collision status at this time, control
System is made according to this signal stops the operation such as manipulator motion, avoids after colliding, mechanical arm moves forward and makes
At more serious destruction.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.
Fig. 1 is the structural schematic diagram of surgery mechanical people's kinematic system of the invention；
Fig. 2 is the configuration schematic diagram of Fig. 1；
Fig. 3 is the structural schematic diagram of slide unit mounting plate and stamp card mounting rack；
Fig. 4 is the structural schematic diagram of slide unit；
Fig. 5 is the structural schematic diagram of bracket of the present invention；
Fig. 6 is the structural schematic diagram of synchronous belt pre-tightening apparatus of the present invention；
Fig. 7 is the structural schematic diagram that present invention slider is connect with connecting support；
Fig. 8 is the structural schematic diagram of connecting support of the present invention；
Fig. 9 is the structural schematic diagram of slide unit shell of the present invention.
Appended drawing reference: 1- mechanical arm；The first joint 11-；12- second joint；13- third joint；The 4th joint 14-；15-
5th joint；The 6th joint 16-；The first link arm of 17-；The second link arm of 18-；19- mechanical arm mounting base；2- slide unit；21- installation
Plate；22- bracket；221- screw rod；222- sliding block；23- driving motor；24- driving wheel；25- driven wheel；26- synchronous belt；271- is solid
Determine side plate；272- is slidably installed plate；273- pretension bolt；274- fastening bolt；281- limited block；282- zero position switch；283-
Very big position switch；284- baffle；285- locating shaft；3- surgical instrument fixing device；4- stabs card mounting rack；5- stamp card；51- mark
Know line；52-RCM point；6- shell；61- escape groove；62- control button；63- display lamp；7- connecting support；71- first end；72-
Second end；73- connecting rib；74- line card；8- drag chain；9- microswitch；91- microswitch fixed frame；92- triggers end.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.To the present invention, how applied technology method solves skill whereby
Art problem, and the realization process for reaching technical effect can be fully understood and implemented.It should be noted that as long as there is no punchings
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
The descriptions such as the "vertical" mentioned in the present embodiment, "horizontal", " top ", " lower section ", " upper end ", " bottom end " be according to
Common meaning and define, for example, the direction definition of reference to gravitational, it is identical as gravity direction be it is vertical, hang down with gravity direction
Be directly it is horizontal, the direction of gravity is lower section, and opposite direction is top, similarly above be top or top, under
Side is bottom or bottom end, is also only and is illustrated convenient for narration, rather than to limit the scope of the invention, relativeness
Be altered or modified, it is under the content of no substantial changes in technology, as described in the examples also when being considered as the enforceable scope of the present invention
" first " and " second " also for facilitate narration and define.
As shown in Figure 1, providing a kind of kinematic system of operating robot, including mechanical arm 1, slide unit 2 and hand for the present invention
Art instrument fixes device 3.Mechanical arm 1 is located at the side of slide unit 2, and surgical instrument fixing device 3 is located at the other side of slide unit 2.Its
In, mechanical arm 1 has multiple freedom degrees, and multiple freedom degrees of mechanical arm 1 can be realized slide unit 2 around the 52 (machine of RCM point of stamp card 5
Space fixed point when tool arm 1 moves) the multiple directions such as front, rear, left and right swing.Surgical instrument include have three from
By, the instrument of two freedom degrees or one degree of freedom, the instrument of different freedom degrees can be realized different functions.It below will be respectively
Mechanical arm 1, slide unit 2 and surgical instrument fixing device 3 are described in detail.
The structure of mechanical arm 1 is described in detail.
As depicted in figs. 1 and 2, mechanical arm 1 includes joint structure and link arm, and joint structure includes the first joint 11, second
Joint 12, third joint 13, the 4th joint 14, the 5th joint 15 and the 6th joint 16, link arm include the first link arm 17 and second
Link arm 18, wherein the first joint 11 be fixedly connected with the movement arm of the extension arm of operating robot (be not shown in the figure extension arm and
Movement arm), the 6th joint 16 is then fixedly connected with the mechanical arm mounting base 19 (hereinafter mentioning) on slide unit 2, specifically, second
The rotation connection vertical with the first joint 11 of joint 12, second joint 12 and third joint 13 are connected with the first link arm 17, and third is closed
Section 13 and the 4th joint 14 are connected with the second link arm 18, the both ends of the first link arm 17 respectively with second joint 12 and third joint 13
Vertical rotation connection, the rotation connection vertical with third joint 13 and the 4th joint 14 respectively of the both ends of the second link arm 18, the 4th closes
The rotation connection vertical with the 5th joint 15 of section 14, the rotation connection vertical with the 6th joint 16 of the 5th joint 15.
Preferably, when the first link arm 17 is rotated using the axis of second joint 12 as rotary shaft, maximum rotation angle is
180°.When second link arm 18 is rotated using the axis in third joint 13 as rotary shaft, maximum rotation angle is 360 °.
It by the rotation in six above-mentioned joints, can be realized multiple rotational freedoms of mechanical arm 1, keep slide unit 2 whole
Carry out the swing of the front, rear, left and right four direction of the RCM point 52 around 2 bottom of slide unit.And then during the pendulum position of operation, side
Just operator will be moved to stamp at the top of surgical instrument by the surgical instrument installed on 1 Mobile Slide 2 of mechanical arm and slide unit 2
Block near 5 positions, in conjunction with the movement of slide unit 2, that realizes the opposite stamp card 5 of 2 surgical instruments of slide unit inserts or pull out movement.
Preferably, micro-driving motor (not shown), micro-driving motor are respectively provided on six joints of mechanical arm 1
Diarthrodial rotation can be driven, it is preferable that a corresponding micro-driving motor on each joint, and can also divide on six joints
Not She Zhi a joint sensors, to measure the rotational angle in each joint, to obtain the current pose information of surgical instrument；Into
One step, key sensor can also detect the micro-driving motor electric current in each joint of mechanical arm 1.When mechanical arm 1
When colliding, the electric current of micro-driving motor can rapidly increase moment, and joint sensors can transmit the increased signal of electric current
To control system, control system judgement at this time collides, the micro-driving motor in each joint of mechanical arm 1 is locked, machinery is made
1 stop motion of arm.In this way, it prevents mechanical arm 1 after motion process collides, moves forward and cause more
Serious destruction.
Further, above-mentioned each joint is the execution unit of movement, is connected between each execution unit, so that each
There is preferable isotropism, and without accumulated error between joint, so that robot complete machine precision with higher, and have dynamic
State responds good Deng technical characterstics.
The structure of slide unit 2 is described in detail.
As shown in figure 3, slide unit 2 includes mounting plate 21, the lower end of 21 side of mounting plate is connected with stamp card mounting rack 4, such as Fig. 4
With bracket 22 shown in Fig. 5, is installed on the side of mounting plate 21, screw rod is equipped between the top and bottom of 22 side of bracket are equal
Pair, screw pair include screw rod 221 and the sliding block 222 that is rotatably connected on screw rod 221, in addition, bracket 22 is equipped with guide shoe
222 make the sliding rail to move linearly, and sliding block 222 is stuck in sliding rail close to one end of bracket 22, axially move in the needs of sliding block 222
When, be conducive to sliding block 222 and move linearly on bracket 22.
The upper end of the other side of mounting plate 21 is equipped with driving motor 23, and lower end is equipped with mechanical arm mounting base 19, wherein driving
Motor 23 converts rotary motion to by transmission device the screw pair of linear motion.Transmission device is located at the top of bracket 22,
Transmission device includes driving wheel 24, driven wheel 25 and the synchronous belt 26 for connecting driving wheel 24 and driven wheel 25, specifically, driving electricity
Machine 23 output shaft driving driving wheel 24 rotate, driving wheel 24 by synchronous belt 26 drive driven wheel 25 rotate, driven wheel 25 with
The upper end of screw rod 221 is fixedly connected, and therefore, driven wheel 25 drives screw rod 221 to rotate, then the sliding block 222 on screw rod 221 does straight line
Movement, finally, driving motor 23 realize sliding block 222 between 22 upper and lower ends of bracket in region under the action of screw pair
Screw rod 221 moves linearly.
Surgical instrument fixing device 3 is then fastenedly connected on sliding block 222, is had an operation by the linear motion band of sliding block 222
The instrument reciprocating motion axial along slide unit 2, and the stamp card 5 of 21 lower end of mounting plate can be passed through, patient is observed and is performed the operation
Operation.
Further, as shown in fig. 6, the lower end of driving motor 23 is fixed on the other side of mounting plate 21, driving motor
Synchronous belt pre-tightening apparatus is equipped between 23 upper end and driving wheel 24, specifically, synchronous belt pre-tightening apparatus includes fixed side panel 271
With the plate 272 that is slidably installed, fixed side panel 271 is fixedly installed in the two sides of mounting plate 21, and the plate 272 that is slidably installed is located at fixed side panel
271 upper end, the output shaft of driving motor 23 pass through the plate 272 that is slidably installed and connect with driven wheel 25, and the plate 272 that is slidably installed is remote
Pretension bolt 273 is equipped between 23 fixed plate of one end from mounting plate 21 and driving motor, pretension bolt 273 is passed through and is slidably installed
The side of plate 272 and the side of fixed side panel 271 contradict.Pretension bolt 273 can be when installing synchronous belt 26, to synchronous belt 26
Reliably pre-tightened, specifically, by tightening pretension bolt 273, be able to drive be slidably installed plate 272 along fixed side panel 271 to
Direction far from mounting plate 21 is mobile, to pre-tighten to synchronous belt 26, efficiently reduces returning when sliding block 222 moves back and forth
Journey gap guarantees that the overall precision of transmission system is higher.Be slidably installed plate 272 top be equipped with fastening bolt 274, in synchronous belt
After the completion of 26 pre-tighten and adjust, it is fastenedly connected on fixed side panel 271 using the plate 272 that will be slidably installed of fastening bolt 274.
Further, then as shown in figures 1 and 3, it is provided with tag line 51 on the outer wall of stamp card 5, tag line 51 has
Two and the two sides up and down of RCM point 52 are symmetrically located in, the stamp card 5 for entering patient's body can determined by tag line 51
Position, in order to grasp insertion position and the depth of stamp card 5, to reach the requirement of operation.Preferably, the RCM point 52 of system by
The algorithm of control unit is guaranteed.
Further, slide unit 2 is equipped with sliding block limiting device, can quickly limit the shift position of sliding block 222, such as Fig. 4
Shown, sliding block limiting device includes the limited block 281 positioned at the same side, zero position switch 282 and very big position switch 283 (in conjunction with
Shown in Fig. 6 and Fig. 7), wherein limited block 281 is fixed on the side of sliding block 222, and limited block 281 is isosceles trapezoidal structure,
It is greater than the width close to mounting plate 21 close to the width of surgical instrument, zero position switch 282 and very big position switch 283 are fixed respectively
Above and below mounting plate 21, the sliding rail on bracket 22 is located between zero position switch 282 and greatly position switch 283.Zero
Baffle 284 is equipped on bit switch 282 and very big position switch 283, two baffles 284 are arranged in relative tilt, two baffles 284
Inclined surface is matched with two inclined surface of 281 bottom of limited block respectively, can be conducive to contact positioning with limited block 281.Wherein,
The free end of baffle 284 is equipped with locating shaft 285, in zero position switch 282 and very big position switch 283 close to the one of baffle 284
Side is equipped with raised button.
Specifically, when the first sliding block 222 moves to certain position, limited block 281 can with zero position switch 282 or greatly
The locating shaft 285 of position switch 283, and baffle 284 is driven to contact with raised button, at this point, zero position switch 282 and very big position
Switch 283 converts Level output signal, while by the electric signal transmission after change model to driving motor 23, system is according to change
Signal drive motor 23 rotate, thus limitation the first sliding block 222 movement.If limited block 281 is contacted with zero position switch 282,
When zero position switch 282 obtains signal, sliding block 222 does not continue to mobile toward the upper extreme direction close to screw rod 221 at this time.Limited block
281 contact with very big position switch 283, and when very big position switch 283 obtains signal, sliding block 222 is not continued to toward close at this time
The lower extreme direction of screw rod 221 is mobile.It, can be utmostly under the collective effect of zero position switch 282 and very big position switch 283
Reduction sliding block 222 the case where moving to other than extreme position generation.
Preferably, encoder (not shown) is provided on driving motor 23.When system starts, driving motor 23 revolves
Turn, is moved automatically toward the side at 221 beginning of screw rod until limited block 281 and the collision of zero position switch 282 with the meeting of movable slider 222, be
This location position is 2 zero-bit of slide unit by system.Under the action of 23 encoder of driving motor, filled by the record and transmission of encoder
The conversion set, being capable of any position that moves on slide unit 2 of calculated for subsequent sliding block 222.Then, according to the feedback of the data, really
Determine 222 motion range of sliding block of the restriction of driving motor 23.When it is more than to limit range that 222 position of sliding block, which is calculated,
It can be controlled by driving motor 23, stopping sliding block 222 continues to move.
In a specific embodiment, when sliding block 222 moves, under the action of encoder on driving motor 23, Neng Goujing
The rotation angle for really detecting driving motor 23, by the register ratio of transmission device, and thus, rotation angle is calculated
The distance that sliding block 222 actually moves along a straight line can obtain sliding block 222 at this time on slide unit 2 relative to the position of zero-bit in real time,
To which the position to sliding block 222 and the surgical instrument fixing device 3 being installed on sliding block 222 carries out effective monitoring.
Preferably, the driving motor 23 that driving sliding block 222 moves is the driving motor 23 without electromagnetic brake, in addition, silk
Bar 221 is also the screw rod 221 of non-self-lock-ing formula, so that in the case that any abnormal power-off occurs in entire driving control system, all
Sliding block 222 can be made to axially move along slide unit 2 manually, will be installed on sliding block 222, be also in patient body in power-off
Surgical instrument is moved to outside human body, avoids equipment after power-off that from cannot moving caused adverse consequences.
As shown in Figure 1, surgical instrument fixing device 3 is arranged on slide unit 2, as shown in fig. 7, slide unit 2 and surgical instrument are solid
Determine to connect between device 3 by connecting support 7.As shown in figure 8, connecting support 7 includes the first end being fastenedly connected with sliding block 222
71, the connection for the second end 72 and vertical connection first end 71 and second end 72 being fastenedly connected with surgical instrument fixing device 3
Gusset 73.As shown in Fig. 2, protection shell 6 is provided in the outside of slide unit 2, as shown in figure 9, being provided on shell 6 for connection
The mobile escape groove 61 of support 7, at this point, the first end 71 of connecting support 7 is located in shell 6, second end 72 is located at outside shell 6,
When sliding block 222 drives connecting support 7 to move, the connecting rib 73 of connecting support 7 moves in escape groove 61, connecting rib 73
Lower end be equipped with line card 74, line card 74 be used for fix slide unit 2 lead to surgical instrument signal cable.Therefore, line card 74 can be protected
The signal cable that card slide unit 2 leads to surgical instrument can move in escape groove 61, so as to keep signal cable to install
It is clean and tidy and will not there is a situation where damage generation with the friction of shell 6.
Again as shown in Figure 1, one end on shell 6 close to driving motor 23 is provided with for controlling the multi-direction fortune of slide unit 2
Multiple control buttons 62 with sliding block 222 along 2 axially reciprocating of slide unit are moved, multiple control buttons 62 can control slide unit respectively
2 front, rear, left and right movement, and sliding block 222 can be controlled along 2 axially reciprocating of slide unit, make slide unit 2 integrally carry out around
RCM point 52 swing and sliding block 222 along slide unit 2 it is axial into and out moving.And then in operation during putting position, doctor
Raw or nurse can be in one's hands by movement at the top of surgical instrument conveniently by the surgical instrument installed on Mobile Slide 2 and slide unit 2
Near art lesions position, facilitate doctor that can directly be operated by operation bench.
Further, the position on shell 6 close to control button 62 is provided with display lamp 63.The number of display lamp 63 is
One or more can be configured according to actual needs.Preferably, the number of display lamp 63 is two.Two display lamps 63
It is arranged at intervals on and is located on 62 two sides shell 6 of control button, it can be by different colours and different display states to the fortune of slide unit 2
Row state is identified.Specific as follows: in the preparation process stage, blue, which is always on (no control button 62 triggers) or flashing, (has control
Button 62 triggers)；It is ready to complete the stage, green is always on (no control button 62 triggers) or flashing (having the triggering of control button 62)；
Failure, red are always on；Emergency stop, red flashing.
Again as shown in figure 4, kinematic system further includes drag chain 8, the first end 71 of drag chain 8 is fastenedly connected the one of mounting plate 21
Side (close to the position at 21 middle part of mounting plate), the second end 72 of drag chain 8 is fastenedly connected on sliding block 222.The beginning of cable connects
The end of operation bench, cable passes through drag chain 8 and line card 74 is connect with surgical instrument.In this way, when sliding block 222 moves along a straight line, energy
Enough it is further ensured that slide unit 2 leads to the signal cable of surgical instrument and stable can move in escape groove 61, and then can be into
One step keep cable installation it is clean and tidy and will not there is a situation where with shell 6 friction damage generation.
Further, as shown in Figure 4 and Figure 6, kinematic system further includes microswitch 9 for carrying out collision detection.Specifically
Ground, there are two the tools of microswitch 9 and is located at the ipsilateral of mounting rack, and one of microswitch 9 passes through microswitch fixed frame 91
It is fixed on the fixed side panel 271 of synchronous belt pre-tightening apparatus, another microswitch 9 is located at peace by microswitch fixed frame 91
The middle part of loading board 21 is equipped with a triggering end 92, when shell 6 is assembled, microswitch on each microswitch 9
9 triggering end 92 is contacted with shell 6.When 2 shell 6 of slide unit is collided, and shell 6 is caused to deform, microswitch 9
On triggering end 92 receive signal and signal passed into control system, inform the presence of control system collision status at this time,
Control system is made according to this signal stops the operations such as the movement of mechanical arm 1, avoids after colliding, the continuation of mechanical arm 1 is transported forward
It moves and causes more serious destruction.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
Claims (10)
1. a kind of limiting device of operating robot mechanical arm, which is characterized in that including microswitch, microswitch setting with
On the connected slide unit of mechanical arm, the outside of slide unit is equipped with shell, and microswitch is in contact with shell, and microswitch and mechanical arm are equal
It is communicated to connect with control system, when shell, which is collided, to be deformed, signal is passed to control system, control system by microswitch
According to the movement of this semaphore lock mechanical arm.
2. the limiting device of operating robot mechanical arm according to claim, which is characterized in that the side of microswitch
It is equipped with triggering end, the opposite other side for triggering end is equipped with electrical connector, and triggering end is contacted with the shell of slide unit, electricity
Connector and control system communicate to connect.
3. the limiting device of operating robot mechanical arm according to claim 1, which is characterized in that slide unit is equipped with installation
The one side of plate, mounting plate is connected with mechanical arm, and another side is equipped with screw pair, is additionally provided with driving motor and biography on mounting plate
Dynamic device, driving motor impart power to screw pair by transmission device.
4. the limiting device of operating robot mechanical arm 1 according to claim 3, which is characterized in that driving motor setting
There is the upper end of the one side of mechanical arm in mounting plate, transmission device includes driving wheel, driven wheel and synchronous belt, and driving wheel is located at
The top of driving motor output shaft is equipped with synchronous belt pre-tightening apparatus between driving motor and driving wheel.
5. the limiting device of operating robot mechanical arm 1 according to claim 4, which is characterized in that synchronous belt pre-tightens dress
It sets including fixed side panel and the plate that is slidably installed, fixed side panel is fixedly installed in the two sides of mounting plate, and the plate that is slidably installed is located at fixation
The top of side plate, the output shaft of driving motor pass through the plate that is slidably installed and connect with driven wheel, and the plate that is slidably installed is far from mounting plate
One end and driving motor fixed plate between be equipped with pretension bolt, pretension bolt pass through be slidably installed plate side and fixed side panel
Side contradict, the top of the plate that is slidably installed is equipped with fastening bolt, will using fastening bolt after the completion of synchronous belt is pre-tightened and adjusted
The plate that is slidably installed is fastenedly connected on fixed side panel.
6. the limiting device of operating robot mechanical arm 1 according to claim 5, which is characterized in that microswitch has
It is multiple.
7. the limiting device of operating robot mechanical arm 1 according to claim 6, which is characterized in that microswitch has
Two, one of microswitch is fixed on the middle part of mounting plate by microswitch fixed frame；Another microswitch passes through
Microswitch fixed frame is fixed therein on a fixed side panel.
8. the limiting device of operating robot mechanical arm 1 according to claim 3, which is characterized in that screw pair passes through branch
Frame is fixed on the another side of mounting plate, and screw pair includes screw rod and sliding block, and sliding block is located on screw rod, and bracket, which is equipped with, to be slided
Rail, when driving motor drives screw rod rotation, sliding block moves axially on screw rod along sliding rail.
9. the limiting device of operating robot mechanical arm 1 according to claim 1, which is characterized in that mechanical arm has extremely
A few mechanical connection arm, mechanical connection arm are connect by multiple joints with slide unit, wherein each intra-articular to be designed with micro drives
Motor, micro-driving motor and control system communicate to connect.
10. the limiting device of operating robot mechanical arm 1 according to claim 9, which is characterized in that each intra-articular
Equipped with joint sensors, joint sensors and control system are communicated to connect.
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| CN201811169604.3A CN109276317A (en) | 2018-10-09 | 2018-10-09 | A kind of limiting device of operating robot mechanical arm |
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| CN201811169604.3A CN109276317A (en) | 2018-10-09 | 2018-10-09 | A kind of limiting device of operating robot mechanical arm |
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| CN109276317A true CN109276317A (en) | 2019-01-29 |
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| CN201811169604.3A Withdrawn CN109276317A (en) | 2018-10-09 | 2018-10-09 | A kind of limiting device of operating robot mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112837509A (en) * | 2019-11-22 | 2021-05-25 | 通快医疗系统两合公司 | Anti-collision system for overhead assembly |
| CN112975933A (en) * | 2021-02-08 | 2021-06-18 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| WO2021120558A1 (en) * | 2019-12-20 | 2021-06-24 | 迈柯唯医疗设备(苏州)有限公司 | Vertical protective device for medical display hanger |
| CN113910255A (en) * | 2021-10-13 | 2022-01-11 | 邦世科技(南京)有限公司 | Intelligent ferry robot for surgical instruments and control method thereof |
| CN115211972A (en) * | 2022-07-04 | 2022-10-21 | 上海神玑医疗科技有限公司 | Elevating system and blood vessel intervene operation auxiliary robot |
-
2018
- 2018-10-09 CN CN201811169604.3A patent/CN109276317A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112837509A (en) * | 2019-11-22 | 2021-05-25 | 通快医疗系统两合公司 | Anti-collision system for overhead assembly |
| US11819460B2 (en) | 2019-11-22 | 2023-11-21 | Baxter Medical Systems Gmbh + Co. Kg | Collision prevention system for overhead assembly |
| CN112837509B (en) * | 2019-11-22 | 2024-02-27 | 通快医疗系统两合公司 | Anti-collision system for operating room overhead assembly and method of adjusting overhead assembly |
| WO2021120558A1 (en) * | 2019-12-20 | 2021-06-24 | 迈柯唯医疗设备(苏州)有限公司 | Vertical protective device for medical display hanger |
| CN112975933A (en) * | 2021-02-08 | 2021-06-18 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| WO2022165963A1 (en) * | 2021-02-08 | 2022-08-11 | 上海睿刀医疗科技有限公司 | Interlocking mechanical arm |
| CN113910255A (en) * | 2021-10-13 | 2022-01-11 | 邦世科技(南京)有限公司 | Intelligent ferry robot for surgical instruments and control method thereof |
| CN113910255B (en) * | 2021-10-13 | 2022-08-05 | 邦世科技(南京)有限公司 | Intelligent ferry robot for surgical instruments and control method thereof |
| CN115211972A (en) * | 2022-07-04 | 2022-10-21 | 上海神玑医疗科技有限公司 | Elevating system and blood vessel intervene operation auxiliary robot |
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Application publication date: 20190129 |